[Fix] Fix amp bug

configs/pointpillars/pointpillars_hv_fpn_sbn-all_8xb2-amp-2x_nus-3d.py

@@ -1,4 +1,4 @@
 _base_ = './pointpillars_hv_fpn_sbn-all_8xb4-2x_nus-3d.py'
 train_dataloader = dict(batch_size=2, num_workers=2)
 # schedule settings
-optim_wrapper = dict(type='AmpOptimWrapper', loss_scale=512.)
+optim_wrapper = dict(type='AmpOptimWrapper', loss_scale=4096.)

configs/pointpillars/pointpillars_hv_secfpn_sbn-all_8xb2-amp-2x_nus-3d.py

@@ -1,4 +1,4 @@
 _base_ = './pointpillars_hv_secfpn_sbn-all_8xb4-2x_nus-3d.py'
 train_dataloader = dict(batch_size=2, num_workers=2)
 # schedule settings
-optim_wrapper = dict(type='AmpOptimWrapper', loss_scale=512.)
+optim_wrapper = dict(type='AmpOptimWrapper', loss_scale=4096.)

configs/second/README.md

@@ -23,9 +23,9 @@ We implement SECOND and provide the results and checkpoints on KITTI dataset.
 |                              Backbone                               |  Class  |  Lr schd   | Mem (GB) | Inf time (fps) |  mAP  |                                                                                                                                                                                             Download                                                                                                                                                                                             |
 | :-----------------------------------------------------------------: | :-----: | :--------: | :------: | :------------: | :---: | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------: |
 |        [SECFPN](./second_hv_secfpn_8xb6-80e_kitti-3d-car.py)        |   Car   | cyclic 80e |   5.4    |                | 79.07 |               [model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-car/hv_second_secfpn_6x8_80e_kitti-3d-car_20200620_230238-393f000c.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-car/hv_second_secfpn_6x8_80e_kitti-3d-car_20200620_230238.log.json)               |
-|  [SECFPN (FP16)](./hv_second_secfpn_fp16_6x8_80e_kitti-3d-car.py)   |   Car   | cyclic 80e |   2.9    |                | 78.72 |       [model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car_20200924_211301-1f5ad833.pth)\| [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car_20200924_211301.log.json)        |
+|  [SECFPN (FP16)](./hv_second_secfpn_8xb6-amp_80e_kitti-3d-car.py)   |   Car   | cyclic 80e |   2.9    |                | 78.72 |       [model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car_20200924_211301-1f5ad833.pth)\| [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car/hv_second_secfpn_fp16_6x8_80e_kitti-3d-car_20200924_211301.log.json)        |
 |      [SECFPN](./second_hv_secfpn_8xb6-80e_kitti-3d-3class.py)       | 3 Class | cyclic 80e |   5.4    |                | 65.74 |         [model](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20210831_022017-ae782e87.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v1.0.0_models/second/hv_second_secfpn_6x8_80e_kitti-3d-3class/hv_second_secfpn_6x8_80e_kitti-3d-3class_20210831_022017log.json)          |
-| [SECFPN (FP16)](./hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class.py) | 3 Class | cyclic 80e |   2.9    |                | 67.4  | [model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class_20200925_110059-05f67bdf.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class_20200925_110059.log.json) |
+| [SECFPN (FP16)](./hv_second_secfpn_8xb6-amp_80e_kitti-3d-3class.py) | 3 Class | cyclic 80e |   2.9    |                | 67.4  | [model](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class_20200925_110059-05f67bdf.pth) \| [log](https://download.openmmlab.com/mmdetection3d/v0.1.0_models/fp16/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class/hv_second_secfpn_fp16_6x8_80e_kitti-3d-3class_20200925_110059.log.json) |
 
 ### Waymo
 

configs/second/second_hv_secfpn_8xb6-amp-80e_kitti-3d-3class.py

@@ -1,4 +1,4 @@
 _base_ = 'second_hv_secfpn_8xb6-80e_kitti-3d-3class.py'
 
 # schedule settings
-optim_wrapper = dict(type='AmpOptimWrapper', loss_scale=512.)
+optim_wrapper = dict(type='AmpOptimWrapper', loss_scale=4096.)

configs/second/second_hv_secfpn_8xb6-amp-80e_kitti-3d-car.py

@@ -1,4 +1,4 @@
 _base_ = 'second_hv_secfpn_8xb6-80e_kitti-3d-car.py'
 
 # schedule settings
-optim_wrapper = dict(type='AmpOptimWrapper', loss_scale=512.)
+optim_wrapper = dict(type='AmpOptimWrapper', loss_scale=4096.)

mmdet3d/models/backbones/base_pointnet.py

@@ -10,7 +10,6 @@ class BasePointNet(BaseModule, metaclass=ABCMeta):
 
     def __init__(self, init_cfg=None, pretrained=None):
         super(BasePointNet, self).__init__(init_cfg)
-        self.fp16_enabled = False
         assert not (init_cfg and pretrained), \
             'init_cfg and pretrained cannot be setting at the same time'
         if isinstance(pretrained, str):

mmdet3d/models/dense_heads/anchor3d_head.py

@@ -5,6 +5,8 @@
 import numpy as np
 import torch
 from mmdet.models.utils import multi_apply
+from mmdet.utils.memory import cast_tensor_type
+from mmengine.runner import amp
 from torch import Tensor
 from torch import nn as nn
 
@@ -92,7 +94,6 @@ def __init__(self,
         warnings.warn(
             'dir_offset and dir_limit_offset will be depressed and be '
             'incorporated into box coder in the future')
-        self.fp16_enabled = False
 
         # build anchor generator
         self.prior_generator = TASK_UTILS.build(anchor_generator)
@@ -112,7 +113,6 @@ def __init__(self,
         self.loss_cls = MODELS.build(loss_cls)
         self.loss_bbox = MODELS.build(loss_bbox)
         self.loss_dir = MODELS.build(loss_dir)
-        self.fp16_enabled = False
 
         self._init_layers()
         self._init_assigner_sampler()
@@ -411,17 +411,18 @@ class predictions.
             num_total_pos + num_total_neg if self.sampling else num_total_pos)
 
         # num_total_samples = None
-        losses_cls, losses_bbox, losses_dir = multi_apply(
-            self._loss_by_feat_single,
-            cls_scores,
-            bbox_preds,
-            dir_cls_preds,
-            labels_list,
-            label_weights_list,
-            bbox_targets_list,
-            bbox_weights_list,
-            dir_targets_list,
-            dir_weights_list,
-            num_total_samples=num_total_samples)
+        with amp.autocast(enabled=False):
+            losses_cls, losses_bbox, losses_dir = multi_apply(
+                self._loss_by_feat_single,
+                cast_tensor_type(cls_scores, dst_type=torch.float32),
+                cast_tensor_type(bbox_preds, dst_type=torch.float32),
+                cast_tensor_type(dir_cls_preds, dst_type=torch.float32),
+                labels_list,
+                label_weights_list,
+                bbox_targets_list,
+                bbox_weights_list,
+                dir_targets_list,
+                dir_weights_list,
+                num_total_samples=num_total_samples)
         return dict(
             loss_cls=losses_cls, loss_bbox=losses_bbox, loss_dir=losses_dir)

mmdet3d/models/dense_heads/anchor_free_mono3d_head.py

@@ -176,7 +176,6 @@ def __init__(
         self.test_cfg = test_cfg
         self.conv_cfg = conv_cfg
         self.norm_cfg = norm_cfg
-        self.fp16_enabled = False
         self.background_label = (
             num_classes if background_label is None else background_label)
         # background_label should be either 0 or num_classes

mmdet3d/models/dense_heads/centerpoint_head.py

@@ -317,7 +317,6 @@ def __init__(self,
         self.loss_bbox = MODELS.build(loss_bbox)
         self.bbox_coder = TASK_UTILS.build(bbox_coder)
         self.num_anchor_per_locs = [n for n in num_classes]
-        self.fp16_enabled = False
 
         # a shared convolution
         self.shared_conv = ConvModule(

mmdet3d/models/dense_heads/groupfree3d_head.py

@@ -214,8 +214,6 @@ def __init__(self,
         self.fps_module = Points_Sampler([self.num_proposal])
         self.points_obj_cls = PointsObjClsModule(self.in_channels)
 
-        self.fp16_enabled = False
-
         # initial candidate prediction
         self.conv_pred = BaseConvBboxHead(
             **pred_layer_cfg,

mmdet3d/models/dense_heads/vote_head.py

@@ -99,7 +99,6 @@ def __init__(self,
 
         self.vote_module = VoteModule(**vote_module_cfg)
         self.vote_aggregation = build_sa_module(vote_aggregation_cfg)
-        self.fp16_enabled = False
 
         # Bbox classification and regression
         self.conv_pred = BaseConvBboxHead(

mmdet3d/models/layers/norm.py

@@ -57,8 +57,6 @@ def forward(self, input: Tensor) -> Tensor:
         Returns:
             Tensor: Has shape (N, C) or (N, C, L), same shape as input.
         """
-        assert input.dtype == torch.float32, \
-            f'input should be in float32 type, got {input.dtype}'
         using_dist = dist.is_available() and dist.is_initialized()
         if (not using_dist) or dist.get_world_size() == 1 \
                 or not self.training:

mmdet3d/models/middle_encoders/pillar_scatter.py

@@ -22,7 +22,6 @@ def __init__(self, in_channels, output_shape):
         self.ny = output_shape[0]
         self.nx = output_shape[1]
         self.in_channels = in_channels
-        self.fp16_enabled = False
 
     def forward(self, voxel_features, coors, batch_size=None):
         """Foraward function to scatter features."""

mmdet3d/models/middle_encoders/sparse_encoder.py

@@ -4,6 +4,7 @@
 import torch
 from mmcv.ops import points_in_boxes_all, three_interpolate, three_nn
 from mmdet.models.losses import sigmoid_focal_loss, smooth_l1_loss
+from mmengine.runner import amp
 from torch import Tensor
 from torch import nn as nn
 
@@ -68,7 +69,6 @@ def __init__(self,
         self.encoder_channels = encoder_channels
         self.encoder_paddings = encoder_paddings
         self.stage_num = len(self.encoder_channels)
-        self.fp16_enabled = False
         self.return_middle_feats = return_middle_feats
         # Spconv init all weight on its own
 
@@ -111,6 +111,7 @@ def __init__(self,
             indice_key='spconv_down2',
             conv_type='SparseConv3d')
 
+    @amp.autocast(enabled=False)
     def forward(self, voxel_features, coors, batch_size):
         """Forward of SparseEncoder.
 

mmdet3d/models/middle_encoders/sparse_unet.py

@@ -61,7 +61,6 @@ def __init__(self,
         self.decoder_channels = decoder_channels
         self.decoder_paddings = decoder_paddings
         self.stage_num = len(self.encoder_channels)
-        self.fp16_enabled = False
         # Spconv init all weight on its own
 
         assert isinstance(order, tuple) and len(order) == 3

mmdet3d/models/necks/second_fpn.py

@@ -38,7 +38,6 @@ def __init__(self,
         assert len(out_channels) == len(upsample_strides) == len(in_channels)
         self.in_channels = in_channels
         self.out_channels = out_channels
-        self.fp16_enabled = False
 
         deblocks = []
         for i, out_channel in enumerate(out_channels):

mmdet3d/models/voxel_encoders/pillar_encoder.py

@@ -59,7 +59,6 @@ def __init__(self,
         self._with_distance = with_distance
         self._with_cluster_center = with_cluster_center
         self._with_voxel_center = with_voxel_center
-        self.fp16_enabled = False
         # Create PillarFeatureNet layers
         self.in_channels = in_channels
         feat_channels = [in_channels] + list(feat_channels)
@@ -209,7 +208,6 @@ def __init__(self,
             norm_cfg=norm_cfg,
             mode=mode,
             legacy=legacy)
-        self.fp16_enabled = False
         feat_channels = [self.in_channels] + list(feat_channels)
         pfn_layers = []
         # TODO: currently only support one PFNLayer

mmdet3d/models/voxel_encoders/utils.py

@@ -52,7 +52,6 @@ def __init__(self,
                  max_out=True,
                  cat_max=True):
         super(VFELayer, self).__init__()
-        self.fp16_enabled = False
         self.cat_max = cat_max
         self.max_out = max_out
         # self.units = int(out_channels / 2)
@@ -127,7 +126,6 @@ def __init__(self,
                  mode='max'):
 
         super().__init__()
-        self.fp16_enabled = False
         self.name = 'PFNLayer'
         self.last_vfe = last_layer
         if not self.last_vfe:

mmdet3d/models/voxel_encoders/voxel_encoder.py

@@ -23,7 +23,6 @@ class HardSimpleVFE(nn.Module):
     def __init__(self, num_features: int = 4) -> None:
         super(HardSimpleVFE, self).__init__()
         self.num_features = num_features
-        self.fp16_enabled = False
 
     def forward(self, features: Tensor, num_points: Tensor, coors: Tensor,
                 *args, **kwargs) -> Tensor:
@@ -62,7 +61,6 @@ def __init__(self,
                  point_cloud_range=(0, -40, -3, 70.4, 40, 1)):
         super(DynamicSimpleVFE, self).__init__()
         self.scatter = DynamicScatter(voxel_size, point_cloud_range, True)
-        self.fp16_enabled = False
 
     @torch.no_grad()
     def forward(self, features, coors, *args, **kwargs):
@@ -141,7 +139,6 @@ def __init__(self,
         self._with_cluster_center = with_cluster_center
         self._with_voxel_center = with_voxel_center
         self.return_point_feats = return_point_feats
-        self.fp16_enabled = False
 
         # Need pillar (voxel) size and x/y offset in order to calculate offset
         self.vx = voxel_size[0]
@@ -340,7 +337,6 @@ def __init__(self,
         self._with_cluster_center = with_cluster_center
         self._with_voxel_center = with_voxel_center
         self.return_point_feats = return_point_feats
-        self.fp16_enabled = False
 
         # Need pillar (voxel) size and x/y offset to calculate pillar offset
         self.vx = voxel_size[0]